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Equity Incentive Plans and Stock-Based Compensation - Summary of Activity under Stock Option Plans (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended
Mar. 31, 2017
USD ($)
$ / shares
shares
Number of Shares (thousands)  
Outstanding options, Beginning balance (in shares) | shares 7,868
Granted (in shares) | shares 0
Exercised (in shares) | shares (728)
Canceled (in shares) | shares (120)
Outstanding options, Ending balance (in shares) | shares 7,020
Vested and exercisable (in shares) | shares 5,247
Weighted-Average Exercise Price  
Beginning balance (in dollars per share) $ 4.82
Granted (in dollars per share) 0.00
Exercised (in dollars per share) 2.84
Canceled (in dollars per share) 6.82
Ending balance (in dollars per share) 5.00
Vested and exercisable at end of period (in dollars per share) $ 4.87
Weighted-average remaining contractual term (in years) 6 years 2 months 12 days
Weighted average remaining contractual term, Vested and exercisable at end of period (in years) 5 years 7 months 6 days
Aggregate Intrinsic Value | $ $ 30,187
Aggregate Intrinsic Value, Vested and exercisable at end of period | $ $ 23,268
Closing price (in dollars per share) $ 9.15